Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC
_SyncOut
4
F
unct
ion
The following are the member variables of the _sMC_SYNCOUT_TRAJ_REF data type variable.
 SyncStopType
Select the trajectory type that is used to create the command position for cancellation of synchroni-
zation with the conveyor.
 TrajTime
Set the target time for a synchronized stop.
 TrajTransition (Reserved)
 TrajDistance
Set the travel distance between the current position and the target position.
 MaxVelocity
Set a velocity for which velocity errors are detected during command position creation.
A velocity error indicates that the specified velocity is exceeded.
Details on _sMC_SYNCOUT_TRAJ_REF
Name Data type Valid range Description
SyncStopType _eMC_SYNC_
STOP_TYPE 0: _mcSyncStop
1: _mcRBT_
ImmediateStop
2: _mcSync
DecelerationStop
*1
*1. A CPU Unit with robot version 1.03 or later and Sysmac Studio version 1.15 or higher are required to use this
sync stop type. For any previous version combinations, this type does not exist.
Select the trajectory type that is used to
create the command position for cancel-
lation of synchronization with the con-
veyor.
0: Synchronized stop
1: Immediate stop
2: Synchronized stop with Deceleration
Name Data type Valid range Description
TrajTime [0] UINT Non-negative number T4 [ms]
TrajTime [1] UINT Non-negative number T5 [ms]
Used only when
Synchronized stop with
Deceleration is specified
TrajTime [2] to [7]
(Reserved) UINT 0 (Reserved)
Name Data type Valid range Description
TrajTransition [0] to [7]
(Reserved) UINT 0 (Reserved)
Name Data type Valid range Description
TrajDistance [0] LREAL Non-negative number The travel distance on the trajectory in Z
axis direction in the machine coordinate
system: H4 [mm]
TrajDistance [1] to [7]
(Reserved) LREAL 0 (Reserved)
Name Data type Valid range Description
MaxVelocity LREAL Non-negative number Unit: mm/s